CN111292022A - Evaluation method and system for testing automatic driving automobile - Google Patents
Evaluation method and system for testing automatic driving automobile Download PDFInfo
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Abstract
The invention relates to the technical field of automatic driving automobiles, and particularly discloses an evaluation method for an automatic driving automobile test, which comprises the following steps: collecting video information, vehicle state CAN bus information and vehicle positioning information of an automatic driving vehicle; synchronously fusing video information, vehicle state CAN bus information and vehicle positioning information; carrying out vehicle behavior recognition on the video information, the vehicle state CAN bus information and the vehicle positioning information which are synchronously fused to obtain a vehicle behavior recognition result; and respectively sending the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to a server and a handheld terminal. The invention also discloses a vehicle-mounted terminal, a server, a handheld terminal and an evaluation system for testing the automatic driving automobile. The evaluation method for the automatic driving automobile test provided by the invention realizes the automatic evaluation of the automatic driving automobile test.
Description
Technical Field
The invention relates to the technical field of automatic driving automobiles, in particular to an evaluation method, a vehicle-mounted terminal, a server, a handheld terminal and an evaluation system for automatic driving automobile testing.
Background
The automatic driving automobile is a new industry for the integration and development of automobile and communication, artificial intelligence, automation and other technologies, and has become an important breakthrough and strategic high point for the technical change and transformation and upgrading of the global automobile industry.
At present, test certification business is actively developed in respective automobilism automobile test bases in China, a large amount of test experience is accumulated, and some defects exist. Firstly, an effective tool for comprehensively controlling vehicle test site information is lacked, multi-source video and positioning information are respectively checked and recalled, time and labor are wasted, and a test process is difficult to synchronously reproduce; secondly, the technical support for quantitatively evaluating and testing the vehicle behavior performance is lacked, whether each judgment item passes or not is judged only by manual qualitative judgment, and the evaluation precision and accuracy are difficult to guarantee; and thirdly, a mechanism means for supervising and managing the test operation of the bus is lacked, and after the bus passes through the test application number plate, the bus test operation still has safety uncertainty, so that effective and accurate supervision technology and equipment are required.
Disclosure of Invention
The invention provides an evaluation method for an automatic driving automobile test and an evaluation system for the automatic driving automobile test, which solve the problem that the automatic evaluation of the automatic driving automobile test is lacked in the related technology.
As a first aspect of the present invention, there is provided an evaluation method for an automated driving vehicle test, comprising:
collecting video information, vehicle state CAN bus information and vehicle positioning information of an automatic driving vehicle;
synchronously fusing the video information, the vehicle state CAN bus information and the vehicle positioning information;
carrying out vehicle behavior recognition on the video information, the vehicle state CAN bus information and the vehicle positioning information which are synchronously fused to obtain a vehicle behavior recognition result;
and respectively sending the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to a server and a handheld terminal so as to enable the server to automatically judge and enable the handheld terminal to display in real time.
Further, the evaluation method for the automatic driving automobile test further comprises the following steps of performing synchronous fusion on the video information, the vehicle state CAN bus information and the vehicle positioning information:
decoding the video information.
Further, the evaluation method for the automatic driving automobile test further comprises the following steps of carrying out vehicle behavior recognition on the video information, the vehicle state CAN bus information and the vehicle positioning information which are synchronously fused, and obtaining a vehicle behavior recognition result:
and packaging and storing the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification node.
As another aspect of the present invention, there is provided an evaluation method for an automatic driving car test, comprising:
receiving video information, vehicle state CAN bus information, vehicle positioning information and the vehicle behavior identification result sent by a vehicle-mounted terminal;
receiving test item management information sent by a handheld terminal;
automatically judging the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to obtain a judgment result;
and pushing the judgment result and the test item management information to a handheld terminal.
As another aspect of the present invention, there is provided an evaluation method for an automatic driving car test, comprising:
receiving video information, vehicle state CAN bus information, vehicle positioning information, the vehicle behavior identification result and test item management information sent by a vehicle-mounted terminal;
receiving a judgment result sent by a server;
displaying the video information, the vehicle state CAN bus information, the vehicle positioning information, the vehicle behavior identification result and the judgment result;
and pushing the test item management information to the server.
As another aspect of the present invention, there is provided a vehicle-mounted terminal, including:
the information acquisition module is used for acquiring video information, vehicle state CAN bus information and vehicle positioning information of an automatic driving vehicle;
the information processing module is used for synchronously fusing the video information, the vehicle state CAN bus information and the vehicle positioning information, and identifying the vehicle behavior of the synchronously fused video information, vehicle state CAN bus information and vehicle positioning information to obtain a vehicle behavior identification result;
and the information transmission module is used for respectively transmitting the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to a server and a handheld terminal so as to enable the server to automatically judge and enable the handheld terminal to display in real time.
As another aspect of the present invention, there is provided a server, including:
the first receiving module is used for receiving video information, vehicle state CAN bus information, vehicle positioning information, the vehicle behavior identification result and test item management information sent by the handheld terminal;
the automatic judging module is used for automatically judging the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to obtain a judging result;
and the first information pushing module is used for pushing the judgment result and the test item management information to the handheld terminal.
As another aspect of the present invention, there is provided a handheld terminal, including:
the second receiving module is used for receiving video information, vehicle state CAN bus information, vehicle positioning information, the vehicle behavior identification result and test item management information sent by the vehicle-mounted terminal, and receiving a judgment result sent by the server;
the display module is used for receiving the judgment result sent by the server;
and the second information pushing module is used for pushing the test item management information to the server.
As another aspect of the present invention, there is provided an evaluation system for an automatic driving car test, comprising: the vehicle-mounted terminal, the handheld terminal and the server are in communication connection with the handheld terminal and the server respectively, and the server is in communication connection with the handheld terminal.
Furthermore, the vehicle-mounted terminal and the handheld terminal are in communication connection through a wireless communication module, and the vehicle-mounted terminal and the server and the handheld terminal and the server are in communication connection through a mobile communication module.
The evaluation method for the automatic driving automobile test provided by the invention has the advantages that the video information, the vehicle state CAN bus information and the vehicle positioning information of the automatic driving automobile are collected, the collected information is processed and then is sent to the server, so that the server CAN automatically judge, the evaluation method for the automatic driving automobile test realizes the sensing analysis, the storage recording, the real-time pushing and the intelligent identification of the vehicle behavior of the sensing information in the automatic driving automobile test and operation process, the judgment information in the automobile test process is quantitatively analyzed, the track information in the automobile operation process is supervised and recorded, and the test and supervision work of the automatic driving automobile is supported.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a flowchart of an evaluation method for an automatic driving vehicle test according to the present invention.
Fig. 2 is a schematic structural diagram of an evaluation system for an automatic driving vehicle test provided by the invention.
Fig. 3 is a functional schematic diagram of an information acquisition module provided in the present invention.
Fig. 4 is a functional diagram of an information processing module provided in the present invention.
Fig. 5 is a schematic structural diagram of a server provided in the present invention.
Fig. 6 is a schematic structural diagram of a handheld terminal provided by the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present embodiment, an evaluation method for an auto-driving vehicle test is provided, and fig. 1 is a flowchart of an evaluation method for an auto-driving vehicle test according to an embodiment of the present invention, as shown in fig. 1, including:
s110, collecting video information, vehicle state CAN bus information and vehicle positioning information of an automatic driving vehicle;
s120, synchronously fusing the video information, the vehicle state CAN bus information and the vehicle positioning information;
s130, vehicle behavior recognition is carried out on the video information, the vehicle state CAN bus information and the vehicle positioning information which are synchronously fused to obtain a vehicle behavior recognition result;
s140, the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior recognition result are respectively sent to a server and a handheld terminal, so that the server CAN automatically judge and the handheld terminal CAN display in real time.
The evaluation method for the automatic driving automobile test provided by the embodiment of the invention CAN realize the perception analysis, storage recording, real-time pushing and intelligent recognition of vehicle behaviors of the sensing information in the automatic driving automobile test and operation process, quantitatively analyze the evaluation information in the automobile test process, supervise and record the track information in the automobile operation process and support the test and supervision work of the automatic driving automobile by acquiring the video information, the vehicle state CAN bus information and the vehicle positioning information of the automatic driving automobile, processing the acquired information and then sending the processed information to the server so as to enable the server to automatically evaluate.
Specifically, the evaluation method for the automatic driving vehicle test further comprises the following steps of, before the step of synchronously fusing the video information, the vehicle state CAN bus information and the vehicle positioning information:
decoding the video information.
Specifically, the evaluation method for the automatic driving vehicle test further includes the steps of performing vehicle behavior recognition on the video information, the vehicle state CAN bus information and the vehicle positioning information after the synchronous fusion, and obtaining a vehicle behavior recognition result, and then:
and packaging and storing the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification node.
Accordingly, as shown in fig. 2 to 4, there is provided a vehicle-mounted terminal, including:
the information acquisition module is used for acquiring video information, vehicle state CAN bus information and vehicle positioning information of an automatic driving vehicle;
the information processing module is used for synchronously fusing the video information, the vehicle state CAN bus information and the vehicle positioning information, and identifying the vehicle behavior of the synchronously fused video information, vehicle state CAN bus information and vehicle positioning information to obtain a vehicle behavior identification result;
and the information transmission module is used for respectively transmitting the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to a server and a handheld terminal so as to enable the server to automatically judge and enable the handheld terminal to display in real time.
As shown in fig. 2, the in-vehicle terminal includes a vehicle information collection module, a vehicle information processing module, and a vehicle information transmission module. The vehicle-mounted terminal transmits video information, high-precision positioning information, vehicle control information and state information which are subjected to space-time synchronous processing to the handheld terminal through the vehicle information acquisition module and the vehicle information processing module; and transmitting to a back-end service platform through 4G.
Fig. 3 shows a functional diagram of the vehicle information collection module. The module collects video information through the in-vehicle and out-vehicle cameras, synthesizes the video information as required, pushes the video information to the information processing module based on the RTMP protocol, simultaneously performs primary identification on the video, detects targets such as a front vehicle, a lane line and the like, and pushes target information to the information processing module based on the MQ message queue; the CAN reader is used for acquiring CAN bus information of the vehicle state and pushing the CAN bus information to the information processing module based on the MQ message queue; the vehicle positioning information is acquired through the high-precision differential GPS equipment and pushed to the information processing module based on the MQ message queue.
It should be noted that the vehicle information acquisition module includes a vehicle-mounted camera for acquiring video information inside and outside the vehicle, a CAN reader for acquiring vehicle state CAN bus information, and a high-precision differential GPS device for acquiring vehicle positioning information, and acquires accurate video, state and position information of the vehicle.
Fig. 4 shows a functional diagram of the vehicle information processing module. The module receives video information, CAN information and high-precision positioning information from a vehicle information acquisition module based on protocols such as RTMP, MQ and the like, decodes the video information, synchronously fuses the video information, the CAN information and the high-precision positioning information, performs vehicle behavior recognition based on deep learning on the decoded video information by referring to the CAN information and the high-precision positioning information, and finally performs packaging storage and pushing based on an HTTP protocol on the video information, the CAN information, the high-precision positioning information and a behavior recognition result according to a certain data format.
The vehicle information processing module uses a high-performance industrial personal computer, acquires vehicle video, state and position information from the vehicle information acquisition module through the Ethernet and the serial port for fusion analysis, and transmits a processing result to the handheld terminal through WIFI; meanwhile, the processing result is transmitted to the vehicle information transmission module through the USB.
It can be understood that the vehicle information transmission module may specifically use 1 4G communication module to transmit the feature information processed by the vehicle-mounted terminal to the back-end service platform.
As another embodiment of the present invention, there is provided an evaluation method for an auto-drive vehicle test, including:
receiving video information, vehicle state CAN bus information, vehicle positioning information and the vehicle behavior identification result sent by a vehicle-mounted terminal;
receiving test item management information sent by a handheld terminal;
automatically judging the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to obtain a judgment result;
and pushing the judgment result and the test item management information to a handheld terminal.
Accordingly, a server is provided, comprising:
the first receiving module is used for receiving video information, vehicle state CAN bus information, vehicle positioning information, the vehicle behavior identification result and test item management information sent by the handheld terminal;
the automatic judging module is used for automatically judging the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to obtain a judging result;
and the first information pushing module is used for pushing the judgment result and the test item management information to the handheld terminal.
As shown in fig. 5, the server receives the information packet and the test item management information based on the HTTP protocol, decomposes the information packet, performs automatic evaluation according to the decomposed video information, CAN information, high-precision positioning information, and behavior recognition result, and simultaneously pushes the test item management information and the result information to the handheld terminal.
Preferably, the server can be an automatic driving automobile test service platform, has the functions of information synchronization, behavior identification and information push, and is in communication with the front-end evaluation terminal through 4G.
As another embodiment of the present invention, there is provided an evaluation method for an auto-drive vehicle test, including:
receiving video information, vehicle state CAN bus information, vehicle positioning information, the vehicle behavior identification result and test item management information sent by a vehicle-mounted terminal;
receiving a judgment result sent by a server;
displaying the video information, the vehicle state CAN bus information, the vehicle positioning information, the vehicle behavior identification result and the judgment result;
and pushing the test item management information to the server.
Accordingly, a handheld terminal is provided, comprising:
the second receiving module is used for receiving video information, vehicle state CAN bus information, vehicle positioning information, the vehicle behavior identification result and test item management information sent by the vehicle-mounted terminal, and receiving a judgment result sent by the server;
the display module is used for receiving the judgment result sent by the server;
and the second information pushing module is used for pushing the test item management information to the server.
As shown in fig. 6, the handheld terminal is provided with a test-dedicated APP, receives and pushes test item management, scheduling information and result information based on a TCP/IP protocol, receives and decomposes an information packet into video information, CAN information, high-precision positioning information and a behavior recognition result based on an HTTP protocol, and displays the video information, the CAN information, the high-precision positioning information, the behavior recognition result and an evaluation result on the handheld terminal in real time.
Preferably, the handheld terminal can be a tablet personal computer with an Android system, is provided with an APP special for testing an automatic driving automobile, and is in interactive communication with the vehicle-mounted terminal through WIFI; and carrying out interactive communication with the back-end service platform through 4G.
As another embodiment of the present invention, there is provided an evaluation system for an automatic driving car test, wherein as shown in fig. 2, the evaluation system includes: the vehicle-mounted terminal, the handheld terminal and the server are in communication connection with the handheld terminal and the server respectively, and the server is in communication connection with the handheld terminal.
The evaluation system for the automatic driving automobile test provided by the embodiment of the invention comprises a vehicle-mounted terminal, a handheld terminal and a server. The vehicle-mounted terminal is installed on an automatic driving automobile, and transmits video, state and positioning data of the automobile to the handheld terminal through WIFI; transmitting the video, the state and the positioning data of the test automobile to a back-end service platform through 4G; and the server performs information interaction with the handheld terminal through the 4G network.
Specifically, the vehicle-mounted terminal and the handheld terminal are in communication connection through a wireless communication module, and the vehicle-mounted terminal and the server and the handheld terminal and the server are in communication connection through a mobile communication module.
Further specifically, the wireless communication module may be a WIFI module, and the mobile communication module may be a 4G module.
To sum up, the evaluation system for the auto-driving automobile test provided by the embodiment of the invention firstly synchronizes and fuses the multi-source evaluation information in the auto-driving automobile evaluation process, mainly comprises the video information of the vehicle-mounted terminal, the video information of the road side monitoring camera, the high-precision positioning information of the test vehicle, and the time sequence and the space synchronization of the vehicle control information and the state information, forms the high-precision multi-angle characteristic information for the test evaluation, and can perform playback verification in a unified time-space coordinate system. Secondly, the automatic driving automobile traffic behavior recognition technology based on depth information and perception information fusion analysis technologies such as videos and GPS based on deep learning are adopted, intelligent reasoning and diagnosis are carried out on the distance, the position relation and the moving speed of a tested vehicle, the continuous position and the moving trend of the vehicle body are evaluated, and recognition and early warning of traffic behaviors of the automatic driving automobile such as driving without lanes, speeding, illegal lane changing, passing close to the vehicle and the like are achieved. And finally, forming an automatic driving automobile evaluation terminal with evaluation information acquisition, pushing, display and playback functions: the synchronous real-time pushing technology of the evaluation information is researched based on an automatic driving automobile testing service platform. And automatically synthesizing related evaluation information, matching evaluation item time, organization structural characteristics and video information according to information playback and inspection requirements of field evaluation, and pushing in real time based on WIFI or 4G network.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. An evaluation method for an autopilot test, comprising:
collecting video information, vehicle state CAN bus information and vehicle positioning information of an automatic driving vehicle;
synchronously fusing the video information, the vehicle state CAN bus information and the vehicle positioning information;
carrying out vehicle behavior recognition on the video information, the vehicle state CAN bus information and the vehicle positioning information which are synchronously fused to obtain a vehicle behavior recognition result;
and respectively sending the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to a server and a handheld terminal so as to enable the server to automatically judge and enable the handheld terminal to display in real time.
2. The method of claim 1, further comprising, prior to the step of synchronously fusing the video information, the vehicle state CAN bus information, and the vehicle positioning information:
decoding the video information.
3. The method of claim 1, further comprising the step of performing vehicle behavior recognition on the synchronously fused video information, vehicle state CAN bus information and vehicle positioning information to obtain a vehicle behavior recognition result, wherein the step of performing the vehicle behavior recognition is performed by:
and packaging and storing the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification node.
4. An evaluation method for an autopilot test, comprising:
receiving video information, vehicle state CAN bus information, vehicle positioning information and the vehicle behavior identification result sent by a vehicle-mounted terminal;
receiving test item management information sent by a handheld terminal;
automatically judging the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to obtain a judgment result;
and pushing the judgment result and the test item management information to a handheld terminal.
5. An evaluation method for an autopilot test, comprising:
receiving video information, vehicle state CAN bus information, vehicle positioning information, the vehicle behavior identification result and test item management information sent by a vehicle-mounted terminal;
receiving a judgment result sent by a server;
displaying the video information, the vehicle state CAN bus information, the vehicle positioning information, the vehicle behavior identification result and the judgment result;
and pushing the test item management information to the server.
6. A vehicle-mounted terminal characterized by comprising:
the information acquisition module is used for acquiring video information, vehicle state CAN bus information and vehicle positioning information of an automatic driving vehicle;
the information processing module is used for synchronously fusing the video information, the vehicle state CAN bus information and the vehicle positioning information, and identifying the vehicle behavior of the synchronously fused video information, vehicle state CAN bus information and vehicle positioning information to obtain a vehicle behavior identification result;
and the information transmission module is used for respectively transmitting the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to a server and a handheld terminal so as to enable the server to automatically judge and enable the handheld terminal to display in real time.
7. A server, comprising:
the first receiving module is used for receiving video information, vehicle state CAN bus information, vehicle positioning information, the vehicle behavior identification result and test item management information sent by the handheld terminal;
the automatic judging module is used for automatically judging the video information, the vehicle state CAN bus information, the vehicle positioning information and the vehicle behavior identification result to obtain a judging result;
and the first information pushing module is used for pushing the judgment result and the test item management information to the handheld terminal.
8. A handheld terminal, comprising:
the second receiving module is used for receiving video information, vehicle state CAN bus information, vehicle positioning information, the vehicle behavior identification result and test item management information sent by the vehicle-mounted terminal, and receiving a judgment result sent by the server;
the display module is used for receiving the judgment result sent by the server;
and the second information pushing module is used for pushing the test item management information to the server.
9. An assessment system for automated driving vehicle testing, comprising: the vehicle-mounted terminal of claim 6, the handheld terminal of claim 8 and the server of claim 7, the vehicle-mounted terminal being communicatively connected with the handheld terminal and the server, respectively, the server being communicatively connected with the handheld terminal.
10. The system of claim 9, wherein the vehicle-mounted terminal and the handheld terminal are in communication connection through a wireless communication module, and the vehicle-mounted terminal and the server and the handheld terminal and the server are in communication connection through a mobile communication module.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114694450A (en) * | 2020-12-25 | 2022-07-01 | 博泰车联网科技(上海)股份有限公司 | Teaching method for automobile |
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